CN104616561A - Large transport airplane control loading simulator - Google Patents
Large transport airplane control loading simulator Download PDFInfo
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- CN104616561A CN104616561A CN201410731068.7A CN201410731068A CN104616561A CN 104616561 A CN104616561 A CN 104616561A CN 201410731068 A CN201410731068 A CN 201410731068A CN 104616561 A CN104616561 A CN 104616561A
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- 238000004088 simulation Methods 0.000 claims description 37
- 230000000694 effects Effects 0.000 claims description 25
- 230000007935 neutral effect Effects 0.000 claims description 6
- 239000000853 adhesive Substances 0.000 claims description 4
- 230000001070 adhesive effect Effects 0.000 claims description 4
- 238000000418 atomic force spectrum Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000005693 optoelectronics Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/28—Simulation of stick forces or the like
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
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- Mechanical Control Devices (AREA)
Abstract
The invention provides a large transport airplane control loading simulator. The large transport airplane control loading simulator comprises a mechanical system and a control system. A high-precision absolute value encoder is used for acquiring the control quantity of a joystick; the force exerted by a control surface on the joystick is calculated by a computer, and the acting force on the joystick is controlled by controlling a high-precision control loading simulator. The force on the joystick is enabled to change along with the change of the flight height and the velocity of the airplane; the working condition of the control system during automatic pilot is simulated; emergency disposal training of the airplane control system in case of special situations is realized; the trim, namely a zero moment point adjustment process, of the elevator is simulated, and the driving fatigue of the flight crew is reduced and eliminated. The high-precision large transport airplane control loading simulator is beneficial for improving the flight training benefit and the fidelity of the flight simulator.
Description
Technical field
The present invention relates to flight simulator technical field, particularly relate to a kind of manipulation load simulation device of large transport airplane.
Background technology
In practical flight process, jociey stick is connected with each rudder face of aircraft by gear train, and the aerodynamic force acted on rudder face is applied on jociey stick by gear train, and steering force changes along with the change of aircraft flight height, speed.Using flight simulator to realize in the process of flight simulation training, manipulation stick force true to nature makes pilot have sensation on the spot in person, can reach satisfied training effect.What traditional spring handled that load simulation system can be very true to nature provides Aerodynamic Force Feedback, and its weak point is: the power on jociey stick of cannot realizing changes with the change of aircraft flight height and speed; The working condition of control system during automatic Pilot can not be simulated; Emergency disposal training when special feelings appear in flight control system cannot be realized; Elevating rudder trim (point of zero moment adjustment) process can not be simulated, can not alleviate and eliminate the driving fatigue of aircrew.
Summary of the invention
Handling the fidelity of load simulation system in order to improve large transport airplane, the invention provides a kind of manipulation load simulation device of large transport airplane.Utilizing high precision absolute value encoder to gather the manipulated variable of jociey stick, calculated the power be applied to by rudder face on jociey stick by computing machine, handling by controlling high precision the acting force that load simulation device controls on jociey stick.
The manipulation load simulation device of a kind of large transport airplane of the present invention comprises mechanical system and control system;
I, being constructed as follows of mechanical system:
One end of drive link is connected with one end of rocking arm, and the other end of rocking arm is connected with jociey stick, and the other end of drive link is connected with the upper end of leading screw, and rocking arm can around the 3rd fulcrum;
Sliding sleeve inwall is engaged with leading screw external thread by screw thread, and there is bearing the centre of sliding sleeve, and the shell of sliding sleeve is connected with the right-hand member of aircraft control load simulator by bearing, and during spindle motor drive screw turns, sliding sleeve can move up and down along leading screw;
Leading screw lower end is connected with spindle motor, and leading screw, spindle motor and sliding sleeve are all connected by erecting frame and power wheel, and the assembly that is connected be made up of above-mentioned parts can around the second fulcrum;
There is spring in aircraft control load simulator sleeve, be used to provide steering force during pilot guidance jociey stick; Aircraft control load simulator left end is connected with rocking arm upper end, and rocking arm lower end is connected with trimmer effect motor, and rocking arm can around the first fulcrum; Trimmer effect motor is fixed on analogue means fixed mount;
The assembly that one end face and fixed mount and the power wheel of electromagnetic clutch form is connected, and other end is bolted on analogue means fixed mount, and when electromagnetic clutch power-off, leading screw, spindle motor and power wheel entirety can around the second fulcrum; When electromagnetic clutch is energized, the adhesive of electromagnetic clutch both ends of the surface, leading screw, spindle motor and power wheel entirety are fixed on analogue means fixed mount; Power wheel is connected with the autopilot servo output shaft of autopilot servo by cable wire;
II, being constructed as follows of control system:
The composition of control system comprises the trim microswitch, first interface circuit, computing machine, the second interface circuit, driving amplifier, the trimmer neutral position signal lamp that connect in turn, and computing machine is also connected with force snesor, angular transducer respectively; Driving amplifier is also connected respectively with spindle motor, autopilot servo, trimmer effect motor;
Described angular transducer adopts high precision absolute value encoder, preferred high accuracy 16 absolute value optoelectronic encoding devices, the manipulated variable of pilot to jociey stick can be fed back to computing machine, be calculated the steering force on jociey stick by computing machine in conjunction with the height of aircraft flight, speed.
Force snesor can be measured and be applied to power on jociey stick by handling load simulation device, and the stick force curve in measured value and computing machine is compared calculating, thus formation power closed loop.
Control system accepts the attitude information of jociey stick, computer-solution, operation and control information is transferred to leading screw, spindle motor, aircraft control load simulator, trimmer effect motor, autopilot servo, electromagnetic clutch and angular transducer and force snesor.
The analog quantity sampling rate of the interface circuit preferably adopted is 16, and communication frequency is 921600.
Introduce below: the simulation steering force of the manipulation load simulation device of (1) a kind of large transport airplane provided by the invention is with the change of aircraft flight height, speed
The manipulation load simulation device of a kind of large transport airplane provided by the invention, during pilot's push-and-pull jociey stick, computing machine gathers pilot to the manipulated variable of jociey stick by first interface circuit, in conjunction with the height of aircraft flight, speed factor, calculate the theoretical value of steering force on jociey stick, theoretical value and stick force sensor measurement to value of feedback compare, if theoretical value is less than measured value, now computer controlled spindle motor processed rotates, spindle motor drives screw turns, sliding sleeve moves away the second fulcrum along leading screw, now aircraft control load simulator spring strut is compressed, when pressure sensor measurements is equal with theoretical value, spindle motor stops operating, when theoretical value is greater than measured value, sliding sleeve moves along leading screw to opposite direction, and spring strut is stretched, when measured value is equal with theoretical value, and motor stalls.When sliding sleeve is positioned at neutral position, the power be applied on jociey stick by aircraft control load simulator is zero, now during pilot guidance jociey stick, steering force on jociey stick is zero, electromagnetic clutch is in disengaged condition in this case, sliding sleeve is in the second position of the fulcrum place, and trimmer effect motor is in neutral position, and rocking arm is in plumbness.
(2) simulation of automatic Pilot operation state
When pilot's engagement the autopilot, electromagnetic clutch in analogue means is in a disengaged position, computing machine controls autopilot servo and starts working, steering wheel output shaft rotation, power wheel is driven to rotate by transmission rope, because power wheel and leading screw are fixed together, so leading screw is around the second fulcrum, jociey stick is in servo-actuated state.Sliding sleeve on leading screw is in the centre position of leading screw, and aircraft control load simulator in the raw; Trimmer effect motor is in neutral position, thus achieves the simulation to autopilot operation.When automatic control system does not work, autopilot servo no power, steering wheel output shaft is in free state, so this device does not also affect normal operational, whole simulation system is in servo-actuated state.Now, the stick force on jociey stick is provided by aircraft control load simulator.
(3) simulation of trimmer effect mechanism
During pilot guidance jociey stick, drive link makes leading screw rotate clockwise around the second fulcrum, the piston rod of aircraft control load simulator is moved to left Compress Spring, thus defines certain steering force; To reduce this steering force, handle trimmer effect mechanism trim electric switch, make the trimmer effect machine operation of trimmer mechanism, by the motion bar retraction of trimmer effect motor, trimmer effect mechanism drives rocking arm to make inhour around fulcrum and rotates, and drives aircraft control load simulator spring strut to be moved to the left, when aircraft control load simulator spring strut amount of movement left equal trimmer effect motor move right momentum time, then loosened completely by the spring compressed, steering force is then reduced to zero.Employing trimmer effect motor comes the trimmer effect mechanism on simulated aircraft, and this trimmer effect motor receiving computer steering order, reduces or eliminate the power on jociey stick;
(4) there is the simulation of clamping stagnation in control system
The Block failure of analog control system is used to simulated aircraft when flying aloft, a certain linkage breaks down, connect the circuit of electromagnetic clutch in control system simulation device, electromagnetic clutch adhesive, catanator will be stuck, and power wheel and fixed mount are fixed together, in this case, pilot when operating aircraft, because spindle motor assembly around the second fulcrum, can not simulate the fault that catanator is stuck.When electromagnetic clutch power-off, then the analogue means power wheel of this system is separated with the support of analogue means, and analog control system can normally work.
beneficial effect:the manipulation load simulation device of a kind of large transport airplane of the present invention, comprises mechanical system and control system.High precision absolute value encoder is utilized to gather the manipulated variable of jociey stick, to be applied to the power on jociey stick by rudder face by computer calculate, handle by controlling described high precision the acting force that load simulation device controls on jociey stick, the power on jociey stick of realizing changes with the change of aircraft flight height and speed; The working condition of control system during simulation automatic Pilot; Realize emergency disposal training when special feelings appear in flight control system; Simulation elevating rudder trim and point of zero moment adjustment process, alleviate and eliminate the driving fatigue of aircrew.The high precision of described large transport airplane handles load simulation device is of value to the fidelity improving flight training benefit and flight simulator.
Accompanying drawing explanation
Fig. 1 is a kind of front view of mechanical system of manipulation load simulation device of large transport airplane.
Fig. 2 is a kind of vertical view of mechanical system of manipulation load simulation device of large transport airplane.
Fig. 3 is a kind of schematic diagram of control system of manipulation load simulation device of large transport airplane.
Embodiment
With reference to the accompanying drawings implementation process of the present invention is described.
The manipulation load simulation device of a kind of large transport airplane of the present invention comprises mechanical system and control system;
I, being constructed as follows of mechanical system:
As shown in Figure 1 and Figure 2, one end of drive link (10) is connected with one end of rocking arm (9); the other end of rocking arm (9) is connected with jociey stick (16), and the other end of drive link (10) is connected with the upper end of leading screw (13), and rocking arm (9) can rotate around the 3rd fulcrum (8);
Sliding sleeve inwall is engaged with leading screw (13) external thread by screw thread, there is bearing the centre of sliding sleeve (12), the shell of sliding sleeve (12) is connected by the right-hand member of bearing with aircraft control load simulator (11), when spindle motor (4) drives leading screw (13) to rotate, sliding sleeve (12) can move up and down along leading screw (13);
Leading screw (13) lower end is connected with spindle motor (4), leading screw (13), spindle motor (4) and sliding sleeve (12) are all connected by erecting frame (18) and power wheel (14), and the assembly that is connected be made up of above-mentioned parts can rotate around the second fulcrum (17);
There is spring in aircraft control load simulator (11) sleeve, be used to provide steering force during pilot guidance jociey stick; Aircraft control load simulator (11) left end is connected with rocking arm (7) upper end, and rocking arm (7) lower end is connected with trimmer effect motor (2), and rocking arm (7) can rotate around the first fulcrum (1); Trimmer effect motor (2) is fixed on analogue means fixed mount;
The assembly that one end face and fixed mount (18) and the power wheel (14) of electromagnetic clutch (3) form is connected, other end is bolted on analogue means fixed mount, when electromagnetic clutch (3) power-off, leading screw (13), spindle motor (4) and power wheel (14) entirety can be rotated around the second fulcrum (17), when electromagnetic clutch (3) is energized, the adhesive of electromagnetic clutch both ends of the surface, leading screw (13), spindle motor (4) and power wheel (14) entirety are fixed on analogue means fixed mount; Power wheel (14) is connected with the autopilot servo output shaft (15) of autopilot servo (6) by cable wire (5);
II, being constructed as follows of control system:
As shown in Figure 3, the composition of control system comprises the trim microswitch, first interface circuit, computing machine, the second interface circuit, driving amplifier, the trimmer neutral position signal lamp that connect in turn, and computing machine is also connected with force snesor, angular transducer respectively; Driving amplifier is also connected respectively with spindle motor (4), autopilot servo (6), trimmer effect motor (2);
Described angular transducer adopts high precision absolute value encoder, preferred high accuracy 16 absolute value optoelectronic encoding devices, the manipulated variable of pilot to jociey stick can be fed back to computing machine, be calculated the steering force on jociey stick by computing machine in conjunction with the height of aircraft flight, speed.
Force snesor can be measured and be applied to power on jociey stick by handling load simulation device, and the stick force curve in measured value and computing machine is compared calculating, thus formation power closed loop.
Control system accepts the attitude information of jociey stick, computer-solution, operation and control information is transferred to leading screw (13), spindle motor (4), aircraft control load simulator (11), trimmer effect motor (2), autopilot servo (6), electromagnetic clutch (3) and angular transducer and force snesor.
The analog quantity sampling rate of the interface circuit preferably adopted is 16, and communication frequency is 921600.
About the simulation steering force of the manipulation load simulation device of (1) large transport airplane is with the change of aircraft flight height, speed; (2) simulation of automatic Pilot operation state; (3) simulation of trimmer effect mechanism; (4) there is the simulation of clamping stagnation in control system, as previously mentioned.
Claims (3)
1. the high precision of large transport airplane handles a load simulation device, it is characterized in that, comprises mechanical system and control system;
I, being constructed as follows of mechanical system:
One end of drive link (10) is connected with one end of rocking arm (9), and the other end of rocking arm (9) is connected with jociey stick (16), and the other end of drive link (10) is connected with leading screw (13) upper end, and rocking arm (9) can rotate around the 3rd fulcrum (8);
Sliding sleeve inwall is engaged with leading screw (13) external thread by screw thread, there is bearing the centre of sliding sleeve (12), the shell of sliding sleeve (12) is connected by the right-hand member of bearing with aircraft control load simulator (11), when spindle motor (4) drives leading screw (13) to rotate, sliding sleeve (12) can move up and down along leading screw (13);
Leading screw (13) lower end is connected with spindle motor (4), leading screw (13), spindle motor (4) and sliding sleeve (12) are all connected by erecting frame (18) and power wheel (14), and the assembly that is connected be made up of above-mentioned parts can rotate around the second fulcrum (17);
There is spring in aircraft control load simulator (11) sleeve, be used to provide steering force during pilot guidance jociey stick; Aircraft control load simulator (11) left end is connected with rocking arm (7) upper end, and rocking arm (7) lower end is connected with trimmer effect motor (2), and rocking arm (7) can rotate around the first fulcrum (1); Trimmer effect motor (2) is fixed on analogue means fixed mount;
The assembly that one end face and fixed mount (18) and the power wheel (14) of electromagnetic clutch (3) form is connected, other end is bolted on analogue means fixed mount, when electromagnetic clutch (3) power-off, leading screw (13), spindle motor (4) and power wheel (14) entirety can be rotated around the second fulcrum (17), when electromagnetic clutch (3) is energized, the adhesive of electromagnetic clutch both ends of the surface, leading screw (13), spindle motor (4) and power wheel (14) entirety are fixed on analogue means fixed mount; Power wheel (14) is connected with the autopilot servo output shaft (15) of autopilot servo (6) by cable wire (5);
II, being constructed as follows of control system:
The composition of control system comprises the trim microswitch, first interface circuit, computing machine, the second interface circuit, driving amplifier, the trimmer neutral position signal lamp that connect in turn, and computing machine is also connected with force snesor, angular transducer respectively; Driving amplifier is also connected respectively with spindle motor (4), autopilot servo (6), trimmer effect motor (2);
Described angular transducer adopts high precision absolute value encoder, the manipulated variable of pilot to jociey stick can be fed back to computing machine, to be calculated the steering force on jociey stick by computing machine in conjunction with the height of aircraft flight, speed;
Force snesor can be measured and be applied to power on jociey stick by handling load simulation device, and the stick force curve in measured value and computing machine is compared calculating, thus formation power closed loop;
Control system accepts the attitude information of jociey stick, computer-solution, operation and control information is transferred to leading screw (13), spindle motor (4), aircraft control load simulator (11), trimmer effect motor (2), autopilot servo (6), electromagnetic clutch (3) and angular transducer and force snesor.
2. the high precision of a kind of large transport airplane as claimed in claim 1 handles load simulation device, and it is characterized in that, described angle high precision absolute value encoder adopts 16 absolute value optoelectronic encoding devices.
3. the high precision of a kind of large transport airplane according to claim 1 handles load simulation device, and the analog quantity sampling rate of the interface circuit adopted is 16, and communication frequency is 921600.
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| CN201410731068.7A CN104616561B (en) | 2014-12-05 | 2014-12-05 | Large transport airplane control loading simulator |
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| CN201410731068.7A CN104616561B (en) | 2014-12-05 | 2014-12-05 | Large transport airplane control loading simulator |
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| CN104616561B CN104616561B (en) | 2017-04-26 |
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| CN104868803A (en) * | 2015-06-11 | 2015-08-26 | 贵州华烽电器有限公司 | Position feedback control servo motor driving system |
| CN105752078A (en) * | 2016-05-04 | 2016-07-13 | 吉林大学 | Execution mechanism for automatic automobile driver |
| CN106530942A (en) * | 2016-12-26 | 2017-03-22 | 中国航空工业集团公司西安飞机设计研究所 | Zero automatic correction method for flight simulator control mechanism |
| CN107967836A (en) * | 2018-01-16 | 2018-04-27 | 镇江爱维森仿真科技有限公司 | A kind of dedicated emulated trimmer mechanism of Aircraft Simulator |
| CN108686311A (en) * | 2018-07-13 | 2018-10-23 | 中国工程物理研究院总体工程研究所 | Centrifugal Dynamic Flight Simulator breathing air supply system |
| CN109613927A (en) * | 2018-11-02 | 2019-04-12 | 中国航空工业集团公司西安飞机设计研究所 | Mechanical manoeuvring system influences aircraft balanced to determine method under aircraft flexible deformation |
| CN109850126A (en) * | 2018-12-05 | 2019-06-07 | 兰州飞行控制有限责任公司 | A kind of aircraft handling modularization comprehensive control device |
| CN110450940A (en) * | 2019-06-24 | 2019-11-15 | 陕西飞机工业（集团）有限公司 | A kind of elevator trimming control circuit of aircraft |
| CN110844047A (en) * | 2019-10-25 | 2020-02-28 | 中航通飞研究院有限公司 | Load simulator |
| CN112623253A (en) * | 2020-07-06 | 2021-04-09 | 西安飞机工业（集团）有限责任公司 | Method for designing output torque of aircraft pod lifting motor |
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| CN104868803A (en) * | 2015-06-11 | 2015-08-26 | 贵州华烽电器有限公司 | Position feedback control servo motor driving system |
| CN105752078A (en) * | 2016-05-04 | 2016-07-13 | 吉林大学 | Execution mechanism for automatic automobile driver |
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| CN107967836A (en) * | 2018-01-16 | 2018-04-27 | 镇江爱维森仿真科技有限公司 | A kind of dedicated emulated trimmer mechanism of Aircraft Simulator |
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| CN108686311A (en) * | 2018-07-13 | 2018-10-23 | 中国工程物理研究院总体工程研究所 | Centrifugal Dynamic Flight Simulator breathing air supply system |
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| CN109850126A (en) * | 2018-12-05 | 2019-06-07 | 兰州飞行控制有限责任公司 | A kind of aircraft handling modularization comprehensive control device |
| CN110450940A (en) * | 2019-06-24 | 2019-11-15 | 陕西飞机工业（集团）有限公司 | A kind of elevator trimming control circuit of aircraft |
| CN110450940B (en) * | 2019-06-24 | 2022-09-20 | 陕西飞机工业（集团）有限公司 | Aircraft elevator trim control circuit |
| CN110844047A (en) * | 2019-10-25 | 2020-02-28 | 中航通飞研究院有限公司 | Load simulator |
| CN112623253B (en) * | 2020-07-06 | 2022-08-05 | 西安飞机工业（集团）有限责任公司 | Method for designing output torque of aircraft pod lifting motor |
| CN112623253A (en) * | 2020-07-06 | 2021-04-09 | 西安飞机工业（集团）有限责任公司 | Method for designing output torque of aircraft pod lifting motor |
| CN114228978A (en) * | 2021-12-27 | 2022-03-25 | 中国航空工业集团公司西安飞机设计研究所 | Airplane control system with balancing mechanism |
| CN115223421A (en) * | 2022-07-29 | 2022-10-21 | 范熙宇 | Flight simulation driving system with operation load function |
| CN116882208A (en) * | 2023-09-06 | 2023-10-13 | 天津华翼蓝天科技股份有限公司 | Disengageable function simulation system and method for load control system |
| CN116882208B (en) * | 2023-09-06 | 2023-11-07 | 天津华翼蓝天科技股份有限公司 | Disengageable function simulation system and method for load control system |
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Effective date of registration: 20181115 Address after: 102200 2 North Road, South Road, Changping District, Beijing Patentee after: Zhang Zhiqiu Address before: 130022 southeast Lake Road 2222, Nanguan District, Changchun, Jilin Patentee before: Military Simulation technical institute of Air force Aviation University of the Chinese People's Liberation Army |
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